CN106852114A

CN106852114A - Portable radiation imaging apparatus

Info

Publication number: CN106852114A
Application number: CN201580056725.5A
Authority: CN
Inventors: M.菲卡拉; J.H.小奥格勒; W.C.温德兰特
Original assignee: Eastman Kodak Co
Current assignee: Eastman Kodak Co; Carestream Health Inc
Priority date: 2014-10-22
Filing date: 2015-10-21
Publication date: 2017-06-13
Also published as: WO2016064993A1; US20170303882A1; EP3209208A1; EP3209208B1

Abstract

A kind of portable X-ray camera system includes being attached with the moveable arm of x-ray source, and the x-ray source can be manuallyd locate by operator.Sensor detects bed or other objects relative to the position of the X-ray camera system and generates positional information, so that programmable system can limit the system or arm in the transverse shifting in the region of the bed or other objects.

Description

Portable radiation imaging apparatus

Invention field

The present invention relates generally to medical imaging field, and exactly, is related to portable radiation imaging apparatus.More Body point is said, the present invention relates to a kind of portable radiography system that radiation source is mounted with adjustable radiation source supporting construction System.

Background of invention

Locomotive ambulatory medical device between each position is employed in medical facilities.A type of locomotive can be with Including x-ray source, for digital x-ray image to be caught in digital x-ray detector.Medical x-ray image can be with Caught using various technologies.For example, it is possible to use such as computed radiography art (computedradiography, CR) Medical image is obtained with the technology such as digital radiography (digital radiography, DR).

Portable x-ray device is particularly useful in various medical environments such as such as CICU, in these medical rings In border, radiation image is obtained especially important.Because portable cart wheel-mounted and can directly be transported to patient around Bedside, therefore portable x-ray imaging device enables attending doctor, clinician or other operators to obtain relevant disease The recent information of disease and help to reduce the risk brought of fixing equipment being moved to patient in radiation facility.But, Need to improve portable x-ray device design more carefully to manipulate or position such device, such that it is able to easy and Automatically avoid unconsciously causing patient harmful collision.

The background information being provided solely for substantially discussed above, it is therefore intended that be used to help determine theme required for protection Scope.

Invention summary

A kind of portable X-ray camera system includes being attached with the moveable arm of x-ray source, and x-ray source can be by operator Manual positioning.Sensor detects the bed of patient or patient relative to the position of X-ray camera system and generates positional information, thus Programmable-coder monitors orientation and brake or electric machine controller limit the arm in the movement in the region of patient. One can realized in embodiment disclosed in putting into practice some of the portable radiographic apparatus has an advantage that, in movement The arm that formula x-ray provides a kind of safety margin to prevent portable medical science go-cart during being imaged for patient and operator is collided suffers from Person.The system is applicable to portable X-ray system, such as in go-cart embodiment disclosed herein, or suitable for fixation System.

In one embodiment, go-cart can be transported to the vicinity of the bed for having patient placed over.Go-cart, or x is penetrated Line source support arm, or both can have a kind of for differentiating component of the bed relative to the position of go-cart, the discriminating can be with It is input into using mechanical device, sensor or by operator and differentiates the position of bed and realize.Position using bed relative to go-cart Put, it may be determined that the referred to as area in region.When x-ray imaging head is separated from go-cart, can then prevent the arm from stretching into or extending Into the region.This can be realized using one or more mechanism, one or more mechanism can by brake, encoder, Electric machine controller, or any part of limitation arm or arm traveling preventing from being constituted with the similar means of patient contact.Such fortune Dynamic limitation can put on any one joint or one group of multiple joint to realize desired limitation.As the x of operator's registration arm Radial imaging head point can allow that it is moved in the region to obtain during ray image.The limitation can include preventing It is moved in the region, or it can include reducing the speed for moving through the region.

In another embodiment, portable X-ray camera system includes being attached with the moveable arm of x-ray source.X is penetrated Line source is configured to be manuallyd locate by operator, and including sensor, for detect patient relative to the equipment position simultaneously Positional information of the generation corresponding to the position of patient.Moveable arm can be towards patient's transverse shifting, but, one in system Mechanism can start with control arm relative to the movement near the region of patient in response to positional information.

In another embodiment, operating the method for portable X-ray camera system includes receiving the portable ray of instruction Photographic system is in bed or the signal of other its near vicinities.Determine the orientation of system when signal is received and determine the logic side in region Boundary, thereby determines that boundary position between system and bed or other objects, and whether monitoring system crosses border.

This invention summary is only intended to be provided to presently disclosed subject matter according to one or more illustrative embodiments Brief overview, rather than as the guidance about explanation claims, or define or limit the scope of the present invention, it is of the invention Scope is only defined by the following claims.This summary for providing is one kind that numerous ideas are introduced in the form of a kind of simplification Illustration Sexual behavior mode, will be further described in detailed description below.This summary is not intended to identify theme required for protection Key feature or essential characteristic, be also not intended to be used as and assist in the scope of theme required for protection.Required guarantor The theme of shield is not limited to solve the implementation method of any or all shortcoming described in background.

For example, above summary explanation is not intended to describe the non-interchangeable indivedual independent embodiments of element.In fact, Being described as many elements relevant with particular can be used together with the element of the embodiment described by other, And can exchange.In the case of without departing from the scope of the present invention, can carry out within the scope of the invention it is many change and Modification, and the present invention includes all such modifications.Expected the following drawings is not on relative size, angular relationship, relative position Put or time relationship is with any accurate scale, appointing for interchangeability, substitution or the presentation of required implementation method is not related to yet What syntagmatic.

Brief description

Therefore, in order to understand feature of the invention, being referred to some embodiments carries out detailed description of the invention, There are some to illustrate in the accompanying drawings in these embodiments.However, it should be noted that accompanying drawing only describes some embodiment party of the invention Case, and the scope of the invention is therefore not interpreted as limiting, the present invention cover other equally effective embodiments.Each schema It is not necessarily drawn to scale, emphasis is generally placed upon the feature for illustrating certain embodiments of the invention.In the accompanying drawings, in various figures Identical numeral has been used in formula to indicate identical part.Therefore, to further understand the present invention, it is referred in detailed below Illustrate, read in conjunction with the accompanying, in the accompanying drawings：

Fig. 1 is near the position of the bed for having a patient placed over and exemplary shifting near the region of patient being presented The figure of dynamic formula X-ray camera system；

Fig. 2 shows that the arm of portable X-ray camera system may collide one embodiment of the situation of patient；

Fig. 3 is to define the schematic diagram in region；

Fig. 4 is the flow chart of illustrative methods of the invention；And

Fig. 5 shows exemplary go-cart processing system.

Detailed description of the invention

This application claims the U.S. Patent Application Serial that on October 22nd, 2014 is submitted to the name of Ficarra et al. 62/067,083 priority.

The application is somewhat related to the entitled MOBILE for being promulgated with Wendlandt et al. names on October 29th, 2013 The U.S. Patent number 8 of RADIOGRAPHY UNIT HAVING COLLAPSIBLE SUPPORT COLUMN, 568,028, the case In being incorporated herein in its entirety by reference.

Fig. 1 shows exemplary portable X-ray camera system 120, and the system includes go-cart 100, and the go-cart is rotatable The segmented movable support arm 107 with rotatable elbow 105 is attached at joint 106, the movable support arm is configured For supporting x-ray imaging head 112, the x-ray imaging head can be manually adjusted to any lateral orientation, height by operator 109 Degree and angle.Go-cart 100 may be considered that with handles 104 main part 116 and the grade part of display device 108.It is mobile Formula X-ray camera system 120 can for example be used for the medical facilities inspection chamber 101 with bed 114, and patient 110 is carried on the bed On.Portable X-ray camera system 120 can obtain the ray (x of patient using the x-ray for being attached to moveable arm 107 first 112 Ray) image, the moveable arm sheet is attached to But rotary joint 106 in one end of support arm 107.Digital ray detector (not shown) can be positioned at the lower section of patient 110, such as with the ray of the seizure patient 110 when x-ray imaging head 112 is launched Image.For mobility, go-cart 100 has two or more wheels 102 and is typically arranged at substantially waist level One or more handles 104, portable X-ray camera system 120 is directed to its precalculated position by operator 109 using handle, And it is rolled into the position.Portable X-ray camera system 120 can include rechargeable battery pack (not shown), the battery Group typically provides power supply, and can reduce or eliminate for operating portable X-ray camera system 120 in power outlet Demand.The battery pack can be transported with driving moment 102 by motor come provided auxiliary, but also can be to car Processing system 10 (Fig. 5) power supply is carried, as described herein, the portable X-ray camera system 120 of on-board processing system control Various operations.Or, portable X-ray camera system 120 can not include battery pack, but only be connected to such as AC power supplies It is operable when external power source or plug insertion power outlet.When digital radiography art, go-cart 100 can include Physical reservoir for fixing one or more DR detectors.For example, go-cart 100 can include fixator, such as slit, For fixing or storing one or more digital detectors or computed radiography can.The fixator can be placed in In go-cart 100 and it is arranged to keep at least one digital radiography (DR) detector and/or with different size Multiple detectors.

Support arm 107 is installed on the framework or shell of go-cart 100, the support arm has elbow joints 105 or allows Three-dimensional mobile and positioning the similar structures of x-ray imaging head 112 being attached on support arm 107.Shown embodiment party in Fig. 1 In case, support arm 107 can include hinge member, and the part rotates to allow x-ray first 112 a series of at elbow 105 Vertically and horizontally moved in orientation.In one embodiment, arm 107 can be rotatable using joint 106 in one end of arm 107 Be connected to go-cart, the joint can be allowed on two axles, and such as trunnion axis and vertical axis rotate.It is joint 106, arm 107, curved First 105 and x-ray imaging head 112 may be collectively referred to herein as " extension " of go-cart 100.In another exemplary embodiment party In case, support arm 107 can using vertical-telescopic part and be attached to the vertical component horizontal retractable part construct with The different distance that x-ray head is stretched out away from the vertical component.The height of x-ray imaging head 112 is manipulated can be under acquisition Limb is in the range of the upper height limit of the image for being limited under the height of shoulder level image obtain the various orientation in patient's upper body part. In exemplary, support arm 107 can allow x-ray head relative to cart body using movable support arm 107 One degree of freedom, two frees degree or three degree of freedom, x-ray imaging head 112 is rotated on some axles.

As shown in fig. 1, show in the top of bed 114 and near the exemplary three dimensional region 103 of patient 110, the region 103 can represent a space region, in this zone, there is the wind of collision between patient 110 and each several part of radiation imaging system 120 Danger.If any one quilt in the elbow 105 of the x-ray imaging head 112, support arm 107 and support arm of radiation imaging system 120 Manipulate or extend in region 103, then these parts there may be highest risk.Although region 103 is depicted in Fig. 1 The general rectangular volume in top surface top of bed 114, but region 103 can determine by any shape in inspection chamber 101 or regional boundary.

As described herein, go-cart 100 can be arranged to detect bed 114 or other objects, and then may be programmed Ground near the space region of bed 114 or other objects, being such as located at bed 114 or other objects top and in horizontal stroke in vertical direction The region 103 defined by certain limit distance 305 (Fig. 3) near bed 114 or other objects reacts upwards.For example, When object or bed 114 is detected, go-cart processing system 10 can be programmed to be defined as region 103 in institute's detection object Upper vertical extend, this can cover in the bed 114 or other its near vicinities and/or top preset distance for being detected, as The space of six feet of plate top.

Exemplary portable X-ray camera system 120 can be in the main body of go-cart 100 and/or in x-ray imaging head 112 It is upper to include one or more displays 108 or monitor.These displays can include manually operated graphic user interface (GUI) control, for operating the portable X-ray camera system 120.Portable X-ray camera system 120 can be comprised additionally in： Built-in microphone 48 (Fig. 5) for explaining and starting the response of the verbal order to operator 109；For the sound of playback Frequency message or the loudspeaker 50 (Fig. 5) for sending alarm；It is configured to control portable X-ray camera system for operator 109 The mouse 44 and/or keyboard 46 (Fig. 5) of 120 function.For conventionally, during go-cart 100 is transported, support arm 107 and x are penetrated The main body folding that line imaging first 112 may be configured to abut against go-cart 100 is additionally protected with during go-cart 100 is transported Shield.

As shown in Figure 2, operator 109 can position x-ray imaging head 112 when patient 110 is sat up straight on bed 114 Period moves support arm 107, thus patient 110, operator 109 or both possibly movement that cannot recognize other objects. When operator 109 positions x-ray imaging head 112, support arm 107 and x-ray imaging head 112 can be from the main bodys of go-cart 100 Extend.This movement may need laterally (for example, from side or parallel to floor) to move support arm 107, x-ray imaging head 112nd, elbow 105 or its combination.This movement there may be patient 110 and support arm 107, x-ray first 112 or elbow 105 it Between collide risk.

Referring again to Fig. 2, in one embodiment of the invention, go-cart 100 can with attachment of sensors or transceiver 201, It is arranged to detect the object near go-cart 100, such as bed 114.Sensor/transceiver 201 can be laser class device, surpass Sound wave class transceiver devices or electromagnetism class sensor/transceiver, or it can be and another sensing on bed 114 The far infrared of device/transceiver communications, the device of radio control, NFC transceiver or bluetooth transceiver.Any sensors with auxiliary electrode, Detector or transceiver can be configured to be triggered and generated by go-cart processing system by the degree of approach of sensor 201 and bed 114 The detection signal of system 10 (Fig. 5) identifications, then the go-cart processing system can start automatic protection program, limit the He of go-cart 100 Its extension, such as support arm 107, x-ray imaging head 112, elbow 105 or its combination near and/or through determine area The movement in domain 103.Detection signal can be included in the position data in its transmitting boundary, the go-cart 100 for such as detecting and bed 114 The distance between or other objects, the processing system 10 of thus go-cart can be calculated and recognized relative in bed 114 or other objects Region 103 near the position of go-cart 100.In one embodiment, go-cart 100 can be with bed 114 or other object things Reason contact.In such embodiment, sensor 201 can include accelerometer, for detect go-cart 100 and bed 114 or other Physical impacts between object, and launch collision sensing signal to go-cart processing system 10.

When go-cart processing system 10 receives detection signal from any sort sensor 201 described herein, it can be with It is programmed to the data that record is provided by the encoder 6 (Fig. 5) of portable X-ray camera system 120 or other parts.Citing For, processing system 10 can be with the encoder data of access encoder 6, and the encoder is arranged to monitor two or more The respective orientation of wheel 102 is so that processing system 10 can determine position of the go-cart 100 relative to the region 103 for calculating.Treatment System 10 can be with the encoder data of access encoder 6, and the encoder is arranged to monitor the angular range of joint 106 so that should Processing system can monitor the orientation of elbow 105, arm 107 or x-ray imaging head 112.Processing system 10 can be accessed can revolve The encoder data of encoder 6 at turning first 105, the encoder is arranged to monitor the angle space between support arm 107 So that processing system 10 can more accurately monitor the altitude azimuth of x-ray imaging head 112.Processing system 10 can be programmed to When detection signal is received, go-cart 100 and the orientation of its extension are calculated by access encoder data, it is later determined that pushing away The direction change of car 100 and its extension relative to the orientation in region 103.Processing system 10 can constantly be accessed and corresponded to The encoder data of the wheel 102 on the opposite side of go-cart 100, with determine go-cart can along floor move direction and away from From.Processing system 10 can constantly access the encoder data corresponding to But rotary joint 106 to determine arm 107 relative to pushing away The anglec of rotation of car 100 and the vertical angle of the bottom relative to go-cart 100 of arm 107.For example, this data can calculate elbow 105 height.Processing system 10 can constantly access the encoder data corresponding to rotatable elbow 105 to determine arm 107 Top and bottom between angle.With reference to size, the size of wheel 102, the arm of the go-cart 100 of known and Electronic saving 107 length and the size of x-ray imaging head, processing system 10 can calculate the three-dimensional space of go-cart 100 and its extension Between orientation.In one embodiment, can be by when detection signal be received, it is determined that relative to bed 114 or other objects Initial orientation, then as described herein, the output for continuously monitoring encoder 6 continuously calculates dimensional orientation.

Referring to Fig. 3, the alternative of operation radiation imaging system 120, wherein (such as Fig. 3 of x-ray imaging head 112 are shown In folded orientation shown in) on or the controlling switch 307 in the main body of go-cart 100 can be started by operator.For example, If operator pressing on the right side of controlling switch 307, it can trigger the signal to processing system 10 so that bed 114 or its Its object is positioned at the predetermined boundary or distance 305 in the right side of cart body 116.Similarly, the controlling switch 307 on the left of pressing can To trigger the signal to processing system 10 so that bed 114 or other objects be positioned at the predetermined boundary in the left side of cart body 116 or Distance 305.Equally, pressing two controlling switches 307 can be to processing system sending signal, so that bed 114 or other objects exist Before cart body 116.Processing system 10 may be further configured for receiving and indicate go-cart 100 and bed from operator The input of the approximate distance between 114 or other objects.Go-cart processing system 10 can use this letter from operator 109 Number, or detection signal from sensor 201 determine on the right side of go-cart vertical plane 302 (plane is extended to inside and outside the page, As shown) as the space boundary in region 103 or border, beyond this plane, go-cart or the movement of its extension can pass through Programming mode is limited, as described herein.Go-cart processing system 10 can use the signal from operator to determine pushing away Vertical plane 301 (plane is extended to inside and outside the page, as shown) on the left of car or the conduct of vertical plane 303 before go-cart The space boundary in region 103, beyond this plane, go-cart or the movement of its extension can be limited by programming mode, As described herein.Go-cart processing system 10 is programmed to recognize that the combination that various sensors 201 or operator are input into can To sense or define the region 103 near one or more sides of go-cart 100.

Signal is being received from operator or receiving detection signal, and Access Coding Minimal as described herein from sensor 201 Outside device data, processing system can be programmed to automatically determine bed 114 or other objects big relative to the position of go-cart 100 Cause position or particular location.Processing system 10 can using the internal x-y for determining, logically determine go-cart 100 with Bed 114 or other objects between vertical plane 301-303, vertical plane 301-303 be region 103 immediate boundary or Border.Vertical plane 301-303 in itself can have preprogramming size or it can be defined as away from go-cart 100 specify Infinitepiston at z.Therefore, using in initial time, detection signal or control letter from operator such as are being received Number when the inside xyz coordinate systems set up, and represent the encoder data of the Initial Azimuth of go-cart, processing system 10 can be supervised The dimensional orientation of go-cart 100 and its extension is surveyed to determine its degree of approach with vertical plane 301-303.Processing system 10 can To be programmed to prevent go-cart 100 and its extension to be moved across the vertical plane 301-303 of determination, or it can be compiled Journey is when go-cart 100 or its extension extend across vertical plane, limiting the go-cart or the movement of its extension.Limitation Movement can include forcing to slow down go-cart 100 or the movement of its extension.In one embodiment, limitation movement can lead to Cross the motor control transmitted to for driving moment 102, the motor on any axle swivel joint 106 or turning gland 105 Signal processed is realized.In one embodiment, limitation movement can be by wheel 102, at joint 106 or in elbow 105 The stopper mechanism for preventing or being limited in the movement in region 103 that place is started by the control signal from processing system 10 Realize.Other such modes can be included for for ensuring support arm 107 and x-ray imaging head 112 electricity in position The control of motivation, cable and pulley.If prevented to the processed system 10 of movement in region, processing system 10 may need Operator 109 provided the special input being pre-selected before lifting restrictions, and x-ray is being proceeded if desired for operator 109 Confirm that patient 110 is in clearing bearing before the further positioning of imaging head 112.

Encoder 6 (Fig. 5) can be electrically connected to wheel 102, x-ray imaging head 112, joint 106, the elbow 105 of go-cart Or its combination, to control it relative to the movement in region 103.Encoder 6 can sense the orientation of support arm 107, be related to the arm Ensure that the arm 107 is fastened to the gyrobearing of the main body 116 of go-cart 100 at joint 106, and the arm is at joint 106t Angular range.With reference to the angle of the arm extension sensed at elbow joints 105, the processing system 10 of go-cart 100 can be true Determine each section of support arm 107 the location of in three dimensions.Can be obtained by encoder 6 at x-ray imaging head 112 Orientation input data additionally is obtained for example to determine the angle of the extension of x-ray imaging head 112.Can be from the wheel of go-cart 102 obtain extra orientation input data so that processing system 10 is capable of identify that and records side of the go-cart on inspection chamber floor Position.Generally speaking, the processing system 10 of go-cart 100 can using these bearing datas determine at least support arm 107 and x-ray into Locus of the picture first 112 relative to region.Then, when operator is by go-cart 100, support arm 107 and x-ray imaging head 112 When manipulating into region or being close to region, processing system 10 can be monitored using these bearing datas.It is such detecting After movement, control program can be started in processing system 10, by loading controlled motor therein, cable, brake machine Structure and/or pulley send command signal and move freely into region limiting support arm 107 and x-ray imaging head 112, region is attached It is near or through the region.Other responses can also be programmed, and such as start the alarm lamp or sound controlled by the processing system 10 of go-cart Ring alarm signal.Alarm lamp source and loudspeaker (Fig. 5) can be connected to processing system and be attached to go-cart 100, its extension Or its combination.

Region 103 can also be logically expressed as controlling go-cart 100, arm 107 and x-ray by processing system 10 The three-D volumes in the space of movement of the imaging head 112 in such region 103.The bed 114 that sensor 201 is detected can be mark Quasi- bed, so that processing system can access the data storage of the size and height that determine standard bed.Processing system 10 can be used These data are further defined in the vertical plane 301-303 and its phase with go-cart 100 of bed 114 or every side of other objects To position.Region 103 can be defined as example extending preset distance above standard bed.In one embodiment, standard Bed can be included in known location, and such as corner in bed is attached to its transceiver.The biography of portable X-ray camera system 120 Sensor 201 in the presence of these transceivers, can be accurately determined the position of the bed of normal size using triangulation.

Fig. 4 is the flow chart of the method for illustrating operation movable type X-ray camera system 120 as described herein.In step 402, signal is received at the processing system 10 of portable X-ray camera system 120, the signal can include coming from sensor 201 Detection signal, or it can include by portable X-ray camera system 120 operator start controlling switch signal. Under either case, the signal all indicates bed or other objects relative to portable X-ray camera system 120 to processing system 10 Position.In step 404, processing system can access the volume in the orientation for determining wheel 102, joint 106, elbow 105 or its combination Code device data, to determine the orientation and position of go-cart 100 and its extension.In step 406, processing system 10 is then calculated At least one vertical plane defined by the processing system logic limited positioned at portable X-ray camera system 120 and bed The position in the region between 114 or other objects.In step 408, processing system can constantly access encoder data supervising The present orientation of measuring car wheel 102, joint 106, elbow 105 or its combination, to determine to include that go-cart 100 and its extension exist Any part of interior portable X-ray camera system 120 whether the vertical plane 301-303 defined across logic.In step 410, if processing system 10 determines that the border in the region is crossed, it can send signal and mechanically be restricted or prevented Movement of any part of X-ray camera system 120 in the region, or start the sound or visual notification, or both.

Fig. 5 describes the EXEMPLARY MOBILE radiography processing system 10 that can be used for implementing embodiment of the present invention.At this Reason system includes CPU (CPU) 14, and it exchanges number in communication channel 12 with various parts described herein electricity According to.Communication channel 12 can include other wired connections between bus or each part (including CPU 14), and if necessary, should Communication channel can include the wireless connection between some parts in some cases.In one embodiment, movable type is penetrated Line photographic system 120 can include being electrically connected to via the I/O interface arrangements 28 of processing system the input unit of CPU 14, such as key Disk 46, mouse 44 and controlling switch 307 input 45.Although keyboard 46 and mouse 44 show as independent part in Figure 5, They can also be embodied by the GUI being presented on display 52, and the display 52 can be included on channel 12 via display The touch-sensitive display 52 that device interface 24 communicates with CPU 14.

Information from processing system 10 can be presented in go-cart 100 or x-ray imaging head 112, or this two On display 52 on person.Processing system 10 internally can access memory containing processing system, such as electronically erasable read only memory 16, Random access memory 22 and hard disk drive 20, the memory storage are used to perform portable radiography described herein The program of the function of system.Processing system 10 can access memory and can access data storage dress including any processing system Put, either the storage device such as volatibility or non-volatile, electronics, magnetic force, optics, including but not limited to, floppy disk, hard disk, light Disk, DVD, flash memory, such as USB compatibility thumb actuator.

Except mounting medium, such as outside hard disk drive 20, processing system 10 can also can access memory containing processing system Driver, can access the data of memory from removable processing system and write data for reading.Can set CD/ DVD drive 30 is with the program that is recorded on compatible optical disk medium 42 in receiving processing system 10 and stores these programs, or Person can set USB interface 32 with the program being recorded in receiving processing system 10 on USB compatibility thumb actuators 40 and deposit Store up these programs.CD/DVD and USB interface device can be by being communicatively coupled to processing system 10 with by numerical data pair Hard disk drive 20 as being transferred to processing system from device 42,40, vice versa.CPU 14 can when necessary using for example RAM 22 performs the software program being stored on such as hard disk drive 20.Voice data can be via being communicatively connected to The microphone 48 of audio/video interface device 26 is input into or is recorded in processing system 10.Audio playback, remembers as described herein The audible notification of record, can play back and via being equally communicatively connected to audio/video interface device under program 26 loudspeaker 50 is listened to.

Processing system 10 can under program start lamp 51 to notify the operation of portable X-ray camera system 120 Member.Thus processing system 10, by being communicatively coupled to external network 60, can make processing system via network connection device 18 System 10 can from be communicatively connected to other processing systems of network, device or data-storage system access numerical data, Program and digital object.Software for programmably operating movable type X-ray camera system 120 as described herein can be with Using CD/DVD media 42, thumb actuator medium 40 or by the remote data storage (connection that can be such as accessed via network 60 Net hard disk drive) be loaded onto in processing system 10, such as on hard disk drive 20.

The sensor 201 of portable X-ray camera system 120 can send detection signal to via transceiver interface 15 Processing system 10.Processing system 10 can use transceiver interface 15 and other in inspection chamber described herein 101 Transceiver wireless communications, such as orientation and positional information of the transmission corresponding to bed 114 or other objects in inspection chamber 101.Treatment System 10 can include bluetooth compatibility firmware, such as via transceiver interface 15 and the bluetooth transceiver being arranged on bed 114 Communication.As described herein, the encoder 6 at wheel 102, joint 106, elbow 105 can use wired or wireless company Connect, communicated with processing system 10 via azimuthal coordinates interface 34.

Alternate embodiment

In an alternate embodiment, except herein in regard to limitation support arm to the feature described by the movement in region Outward, movement of the go-cart to region can also be limited using the electric machine controller of the wheel 102 of go-cart 100.For example, go-cart 100 wheel 102 can automatically be locked under the control of processing system 10 in case thrust car 100 is moved along inspection chamber floor.

Exist in another alternate embodiment, start a controlling switch 307 (Fig. 3) to start image in operator 109 Before acquisition, go-cart 100 can be programmed in acquiescence off-state.Similarly, if elbow 105 or joint 106, encoder Sense operator 109 and move support arm 107, but controlling switch 307 is not yet pressed, or sensor 201 is not yet detected Or system 120 not yet determines the position in region 103, then can trigger and automatically shut down or mobile limitation.Be input into operator 109 or After the position in the input determination of automated sensor 201 region 103, then the limitation on the movement of support arm 107 can be released.This The shut-off that class is automatically controlled can serve as being sent to for example being blocked about sensor 201 and cannot sensing bed for operator 109 Presence, or the signal that sensor or another device otherwise disconnect.Any such acquiescence limitation described herein Or Disabling Mechanism can by provide can be started by operator overregulate control and cancel.

It will be understood by those skilled in the art that various aspects of the present invention can be presented as that system, method or computer program are produced Product.Therefore, that devices at full hardware embodiment, full Software implementations can be presented is (including firmware, resident soft for various aspects of the present invention Part, microcode etc.), or the form of embodiment in terms of software and hardware is combined with, these are general herein referred to as " to be System ".In addition, various aspects of the present invention can be in the computer program embodied in one or more computer-readable mediums producing Product form, the computer-readable medium has computer readable program code thereon.It is specific on a computer-readable medium The program code and/or executable instruction of change can use any appropriate medium, and including but not limited to, wireless, wired, optical fiber is electric Cable, RF etc., or foregoing any suitable combination of transmitted.

Computer program code for carrying out the operation of various aspects of the present invention can be by one or more programming language Any combinations of speech, including the programming language and conventional procedural programming language of object-oriented write.These computer programs refer to Order is stored in computer-readable medium, and these instructions can instruct computer, other programmable data processing systems Or other devices work in a specific way, thus make the instruction article of manufacture being stored in computer-readable medium, including reality Apply the function/operation indicated in flow chart and/or block diagram one or more blocks.Computer program instructions can also be loaded onto On computer, other programmable data processing systems or other devices with cause it is a series of stay in computer, other may be programmed The operating procedure performed in data handling system or other devices, thus produces computer-implemented operation, so that computer Or the instruction performed on other programmable devices is provided for being indicated in implementing procedure figure and/or block diagram one or more blocks Function/operation.

This written explanation discloses the present invention, including optimal mode using embodiment, and also causes art technology Personnel can put into practice the present invention, including manufacture and use any device or system and perform any method being incorporated to.It is of the invention Patentable scope is to be defined by tbe claims, and the other embodiments that can be expected including those skilled in the art.If The structural detail that these other embodiments have has no difference, or if these other implementations with the literal language of claim Example includes equivalent structural elements of the literal language without significant difference with claim, then it is assumed that these embodiments are in claim In the range of.

Claims (according to the 19th article of modification of treaty)

1. a kind of portable X-ray camera system, including：

Go-cart with wheel；

It is attached to the go-cart with wheel and is attached with the moveable arm of x-ray source, the x-ray source is configured to by grasping Work person positions；And

Sensor, for detect bed or other objects relative to the position of the equipment and for generate correspond to the bed or its The positional information of the position of its object,

Wherein described system is included in response to the positional information to control the arm or the go-cart relative near the bed Or the mechanism of the movement in the region of other objects, the mechanism includes arrestment mechanism, for preventing the arm or the go-cart from moving Move into the region.

2. the system as claimed in claim 1, wherein the mechanism prevents any part and the x-ray source of the arm from moving Into the region.

3. system as described in any of claims 1, if wherein a part for the arm is moved in the region, The mechanism forcibly slows down the movement of the arm.

4. the system as claimed in claim 1, wherein the system includes at least one in light source and sound source, it is configured to The arm or other parts for detecting the system in the sensor are started when being moved in the region by the system.

5. system as claimed in claim 4, wherein the message of the sound source played pre-recorded of the startup.

6. the system as claimed in claim 1, wherein the sensor is selected from the group for consisting of：Mechanical sensor, Ultrasonic wave class sensor, laser type sensor, optical pickocff, NFC transceiver, bluetooth transceiver and electromagnetic wave class sensor.

7. the system as claimed in claim 1, wherein the region is included in the three dimensions above the bed or other objects.

8. the system as claimed in claim 1, wherein the region is the space that the logic in vertical plane side is defined, and Wherein described portable X-ray camera system is located on the side relative with the region of the vertical plane.

9. system as claimed in claim 8, the system comprises additionally in input mechanism, and wherein operator selects the movable type The side of system is determining the orientation of the vertical plane.

10. the system as claimed in claim 1, the system comprises additionally in the communication positioned near the bed or other objects and receives Hair device, wherein the region is defined in the communication between the transceiver and the sensor.

11. the system as claimed in claim 1, the system comprises additionally in inspection of the storage in the electronic memory of the system Look into the predetermined graphics of room.

A kind of 12. portable X-ray camera systems, including：

Go-cart with wheel；

It is attached to the go-cart with wheel and is attached with the moveable arm of x-ray source, the x-ray source is configured to by grasping Work person positions；

The input of the position with indicating area relative to the portable X-ray camera system can be started by operator, wherein described System is arranged to spatial positional information of the storage corresponding to the region；And

The arm is prevented during for the agent localization in the portable X-ray camera system in the areas adjacent or described is pushed away Car is moved in the region, and prevents the arm to be moved to the area when the x-ray source is positioned at the areas adjacent Mechanism in domain.

13. systems as claimed in claim 12, the system comprises additionally in encoder, indicates the movable type to penetrate for generating The main body and the arm of line photographic system are relative to the bearing data that the directionality in the region is moved.

14. systems as claimed in claim 13, the system comprises additionally in processing system, be used to based on the bearing data and The spatial positional information calculates the main body and the arm of the portable X-ray camera system relative to the region Orientation.

15. systems as claimed in claim 14, the system comprises additionally in the system in preventing the arm to be moved to the region Dong Qi mechanisms.

16. systems as claimed in claim 14, the system is comprised additionally in response to the calculating arm in the region Orientation controls the mechanism of the movement of the arm.

A kind of 17. methods for operating portable X-ray camera system, methods described includes：

Receive and indicate the portable X-ray camera system in bed or the signal of other its near vicinities；

When the signal is received, the orientation of the system is determined；

Determine the logical boundary in region, the border is between the system and the bed or other objects；

Determine the movement of the system whether across the border；And

Start stopper mechanism to prevent the movement of the system across the border.

18. methods as claimed in claim 17, methods described is comprised additionally in and is moved across institute in response to the determination system Border is stated, the system is limited and is moved out the border.

19. methods as claimed in claim 18, methods described is comprised additionally in prevents the system from moving out the border.

20. methods as claimed in claim 18, methods described is comprised additionally in and is moved across institute in response to the determination system Border is stated, starts notice system.

Claims

1. a kind of portable X-ray camera system, including：

The moveable arm of x-ray source is attached with, the x-ray source is configured to be positioned by operator；And

Wherein described system is included in response to the positional information to control the arm relative near the bed or other objects Region movement mechanism.

A kind of 12. portable X-ray camera systems, including：

The moveable arm of x-ray source is attached with, the x-ray source is configured to be positioned by operator；

For controlling the portable radiography system when the portable X-ray camera system is positioned at the areas adjacent The movement of the main body of system, and the mechanism of the arm is controlled or moved when the x-ray source is positioned at the areas adjacent.

15. systems as claimed in claim 14, the system comprises additionally in the machine in preventing the arm to be moved to the region Structure.

When the signal is received, the orientation of the system is determined；

Determine the logical boundary in region, the border is between the system and the bed or other objects；And

Determine the movement of the system whether across the border.